Pedestrian detecting apparatus

Abstract

A first pedestrian judging unit judges, on the basis of the size and motion state of a target three-dimensional object, whether the object is a pedestrian. A second pedestrian judging unit judges, on the basis of shape data on the object, whether the object is a pedestrian. A pedestrian judging unit finally determines that the object is a pedestrian when both the first and second pedestrian judging units judge the object as a pedestrian, when the second pedestrian judging unit judges the object as a pedestrian, when the first pedestrian judging unit judges the object as a pedestrian and a result of this judgment is held for a preset period, or when the first pedestrian judging unit judges the object as a pedestrian in a current judgment operation and the second pedestrian judging unit judged the object as a pedestrian in the previous judging operation.

1. A pedestrian detecting apparatus comprising:
 forward three-dimensional object recognizing means for recognizing a forward three-dimensional object; 
 first pedestrian judging means for judging, on the basis of a size and a motion state of the recognized forward three-dimensional object, whether the forward three-dimensional object is a pedestrian; 
 second pedestrian judging means for judging, on the basis of shape data on the recognized forward three-dimensional object, whether the forward three-dimensional object is the pedestrian; 
 final pedestrian judging means for finally determining, on the basis of a result of judgment by the first pedestrian judging means and a result of judgment by the second pedestrian judging means, whether the recognized forward three-dimensional object is the pedestrian; and 
 crossing-pedestrian judging means for judging, on the basis of a front-rear direction speed and a lateral direction speed of the recognized forward three-dimensional object, whether the recognized forward three-dimensional object is a crossing pedestrian crossing in front of a vehicle. 
 
     
     
       2. The pedestrian detecting apparatus according to  claim 1 , wherein the final pedestrian judging means finally determines that the forward three-dimensional object is the pedestrian when both the first pedestrian judging means and the second pedestrian judging means judge the forward three-dimensional object as the pedestrian. 
     
     
       3. The pedestrian detecting apparatus according to  claim 1 , wherein the final pedestrian judging means finally determines that the forward three-dimensional object is the pedestrian when the second pedestrian judging means judges the forward three-dimensional object as the pedestrian. 
     
     
       4. The pedestrian detecting apparatus according to  claim 1 , wherein the final pedestrian judging means finally determines that the forward three-dimensional object is the pedestrian when the first pedestrian judging means judges the forward three-dimensional object as the pedestrian and a result of the judgment by the first pedestrian judging means is held for a preset period. 
     
     
       5. The pedestrian detecting apparatus according to  claim 1 , wherein the final pedestrian judging means finally determines that the forward three-dimensional object is the pedestrian when the first pedestrian judging means judges the forward three-dimensional object as the pedestrian in a current judging operation and the second pedestrian judging means judged the forward three-dimensional object as the pedestrian in the previous judging operation. 
     
     
       6. A pedestrian detecting apparatus comprising:
 forward three-dimensional object recognizing unit configured to recognize a three-dimensional object; 
 first pedestrian judging unit configured to judge, on the basis of a size and a movement speed of the recognized three-dimensional object, whether the three-dimensional object is a pedestrian; 
 second pedestrian judging unit configured to judge, on the basis of shape data on the recognized three-dimensional object, whether the three-dimensional object is the pedestrian; 
 final pedestrian judging unit configured to finally determine, on the basis of a result of judgment by the first pedestrian judging unit and a result of judgment by the second pedestrian judging unit, whether the recognized forward three-dimensional object is the pedestrian; and 
 crossing-pedestrian judging unit configured to judge, on the basis of a front-rear direction speed of the recognized forward three-dimensional object, whether the recognized forward three-dimensional object is a crossing-pedestrian crossing in front of a vehicle.